Discovering modular solutions that generalize compositionally

Many complex tasks and environments can be decomposed into simpler, independent parts. Discovering such underlying compositional structure has the potential to expedite adaptation and enable compositional generalization. Despite progress, our most powerful systems struggle to compose flexibly. While most of these systems are monolithic, modularity promises to allow capturing the compositional nature of many tasks. However, it is unclear under which circumstances modular systems discover this hidden compositional structure. To shed light on this question, we study a teacher-student setting with a modular teacher where we have full control over the composition of ground truth modules. This allows us to relate the problem of compositional generalization to that of identification of the underlying modules. We show theoretically that identification up to linear transformation purely from demonstrations is possible in hypernetworks without having to learn an exponential number of module combinations. While our theory assumes the infinite data limit, in an extensive empirical study we demonstrate how meta-learning from finite data can discover modular solutions that generalize compositionally in modular but not monolithic architectures. We further show that our insights translate outside the teacher-student setting and demonstrate that in tasks with compositional preferences and tasks with compositional goals hypernetworks can discover modular policies that compositionally generalize.

Gated recurrent neural networks discover attention

Recent architectural developments have enabled recurrent neural networks (RNNs) to reach and even surpass the performance of Transformers on certain sequence modeling tasks. These modern RNNs feature a prominent design pattern: linear recurrent layers interconnected by feedforward paths with multiplicative gating. Here, we show how RNNs equipped with these two design elements can exactly implement (linear) self-attention, the main building block of Transformers. By reverse-engineering a set of trained RNNs, we find that gradient descent in practice discovers our construction. In particular, we examine RNNs trained to solve simple in-context learning tasks on which Transformers are known to excel and find that gradient descent instills in our RNNs the same attention-based in-context learning algorithm used by Transformers. Our findings highlight the importance of multiplicative interactions in neural networks and suggest that certain RNNs might be unexpectedly implementing attention under the hood.

Random initialisations performing above chance and how to find them

Neural networks trained with stochastic gradient descent (SGD) starting from different random initialisations typically find functionally very similar solutions, raising the question of whether there are meaningful differences between different SGD solutions. Entezari et al. recently conjectured that despite different initialisations, the solutions found by SGD lie in the same loss valley after taking into account the permutation invariance of neural networks. Concretely, they hypothesise that any two solutions found by SGD can be permuted such that the linear interpolation between their parameters forms a path without significant increases in loss. Here, we use a simple but powerful algorithm to find such permutations that allows us to obtain direct empirical evidence that the hypothesis is true in fully connected networks. Strikingly, we find that two networks already live in the same loss valley at the time of initialisation and averaging their random, but suitably permuted initialisation performs significantly above chance. In contrast, for convolutional architectures, our evidence suggests that the hypothesis does not hold. Especially in a large learning rate regime, SGD seems to discover diverse modes.

Evaluating Disentanglement of Structured Latent Representations

We design the first multi-layer disentanglement metric operating at all hierarchy levels of a structured latent representation, and derive its theoretical properties. Applied to object-centric representations, our metric unifies the evaluation of both object separation between latent slots and internal slot disentanglement into a common mathematical framework. It also addresses the problematic dependence on segmentation mask sharpness of previous pixel-level segmentation metrics such as ARI. Perhaps surprisingly, our experimental results show that good ARI values do not guarantee a disentangled representation, and that the exclusive focus on this metric has led to counterproductive choices in some previous evaluations. As an additional technical contribution, we present a new algorithm for obtaining feature importances that handles slot permutation invariance in the representation.

Improving Gradient Estimation in Evolutionary Strategies With Past Descent Directions

Evolutionary Strategies (ES) are known to be an effective black-box optimization technique for deep neural networks when the true gradients cannot be computed, such as in Reinforcement Learning. We continue a recent line of research that uses surrogate gradients to improve the gradient estimation of ES. We propose a novel method to optimally incorporate surrogate gradient information. Our approach, unlike previous work, needs no information about the quality of the surrogate gradients and is always guaranteed to find a descent direction that is better than the surrogate gradient. This allows to iteratively use the previous gradient estimate as surrogate gradient for the current search point. We theoretically prove that this yields fast convergence to the true gradient for linear functions and show under simplifying assumptions that it significantly improves gradient estimates for general functions. Finally, we evaluate our approach empirically on MNIST and reinforcement learning tasks and show that it considerably improves the gradient estimation of ES at no extra computational cost.

Decoupling Hierarchical Recurrent Neural Networks With Locally Computable Losses

Learning long-term dependencies is a key long-standing challenge of recurrent neural networks (RNNs). Hierarchical recurrent neural networks (HRNNs) have been considered a promising approach as long-term dependencies are resolved through shortcuts up and down the hierarchy. Yet, the memory requirements of Truncated Backpropagation Through Time (TBPTT) still prevent training them on very long sequences. In this paper, we empirically show that in (deep) HRNNs, propagating gradients back from higher to lower levels can be replaced by locally computable losses, without harming the learning capability of the network, over a wide range of tasks. This decoupling by local losses reduces the memory requirements of training by a factor exponential in the depth of the hierarchy in comparison to standard TBPTT.

Optimal Kronecker-Sum Approximation of Real Time Recurrent Learning

One of the central goals of Recurrent Neural Networks (RNNs) is to learn long-term dependencies in sequential data. Nevertheless, the most popular training method, Truncated Backpropagation through Time (TBPTT), categorically forbids learning dependencies beyond the truncation horizon. In contrast, the online training algorithm Real Time Recurrent Learning (RTRL) provides untruncated gradients, with the disadvantage of impractically large computational costs. Recently published approaches reduce these costs by providing noisy approximations of RTRL. We present a new approximation algorithm of RTRL, Optimal Kronecker-Sum Approximation (OK). We prove that OK is optimal for a class of approximations of RTRL, which includes all approaches published so far. Additionally, we show that OK has empirically negligible noise: Unlike previous algorithms it matches TBPTT in a real world task (character-level Penn TreeBank) and can exploit online parameter updates to outperform TBPTT in a synthetic string memorization task.

The linear hidden subset problem for the (1+1) EA with scheduled and adaptive mutation rates

We study unbiased $(1+1)$ evolutionary algorithms on linear functions with an unknown number $n$ of bits with non-zero weight. Static algorithms achieve an optimal runtime of $O(n (\ln n)^{2+\epsilon})$, however, it remained unclear whether more dynamic parameter policies could yield better runtime guarantees. We consider two setups: one where the mutation rate follows a fixed schedule, and one where it may be adapted depending on the history of the run. For the first setup, we give a schedule that achieves a runtime of $(1\pm o(1))\beta n \ln n$, where $\beta \approx 3.552$, which is an asymptotic improvement over the runtime of the static setup. Moreover, we show that no schedule admits a better runtime guarantee and that the optimal schedule is essentially unique. For the second setup, we show that the runtime can be further improved to $(1\pm o(1)) e n \ln n$, which matches the performance of algorithms that know $n$ in advance. Finally, we study the related model of initial segment uncertainty with static position-dependent mutation rates, and derive asymptotically optimal lower bounds. This answers a question by Doerr, Doerr, and K\"otzing.

When Does Hillclimbing Fail on Monotone Functions: An entropy compression argument

Hillclimbing is an essential part of any optimization algorithm. An important benchmark for hillclimbing algorithms on pseudo-Boolean functions $f: \{0,1\}^n \to \mathbb{R}$ are (strictly) montone functions, on which a surprising number of hillclimbers fail to be efficient. For example, the $(1+1)$-Evolutionary Algorithm is a standard hillclimber which flips each bit independently with probability $c/n$ in each round. Perhaps surprisingly, this algorithm shows a phase transition: it optimizes any monotone pseudo-boolean function in quasilinear time if $c<1$, but there are monotone functions for which the algorithm needs exponential time if $c>2.2$. But so far it was unclear whether the threshold is at $c=1$. In this paper we show how Moser's entropy compression argument can be adapted to this situation, that is, we show that a long runtime would allow us to encode the random steps of the algorithm with less bits than their entropy. Thus there exists a $c_0 > 1$ such that for all $0<c\le c_0$ the $(1+1)$-Evolutionary Algorithm with rate $c/n$ finds the optimum in $O(n \log^2 n)$ steps in expectation.

Approximating Real-Time Recurrent Learning with Random Kronecker Factors

Despite all the impressive advances of recurrent neural networks, sequential data is still in need of better modelling. Truncated backpropagation through time (TBPTT), the learning algorithm most widely used in practice, suffers from the truncation bias, which drastically limits its ability to learn long-term dependencies.The Real-Time Recurrent Learning algorithm (RTRL) addresses this issue, but its high computational requirements make it infeasible in practice. The Unbiased Online Recurrent Optimization algorithm (UORO) approximates RTRL with a smaller runtime and memory cost, but with the disadvantage of obtaining noisy gradients that also limit its practical applicability. In this paper we propose the Kronecker Factored RTRL (KF-RTRL) algorithm that uses a Kronecker product decomposition to approximate the gradients for a large class of RNNs. We show that KF-RTRL is an unbiased and memory efficient online learning algorithm. Our theoretical analysis shows that, under reasonable assumptions, the noise introduced by our algorithm is not only stable over time but also asymptotically much smaller than the one of the UORO algorithm. We also confirm these theoretical results experimentally. Further, we show empirically that the KF-RTRL algorithm captures long-term dependencies and almost matches the performance of TBPTT on real world tasks by training Recurrent Highway Networks on a synthetic string memorization task and on the Penn TreeBank task, respectively. These results indicate that RTRL based approaches might be a promising future alternative to TBPTT.